Multiple sensors fusion plays a major role in situation awareness, especially in modern dynamic security monitoring and tracking applications. In this paper, the authors focus on a specific effective set of complementary sensors (laser (for speed measurements), sonar (for space scanning) and RF (for access rights)). A novel multi-agent system is obtained by fusing the above types of sensory data taking advantages of similarity and complementarity concepts. Furthermore, Kalman Filter is utilized to track next state estimates of agent(s) in uncertain environment.